Haptic shifting devices

ABSTRACT

A haptic shift device for use in shift-by-wire systems in vehicles. The haptic shift device includes a shift lever manipulatable by a user. At least one sensor detects a position of the shift lever, and a transmission gear of the vehicle is caused to be changed based on the position of the shift lever. At least one electrically-controlled actuator outputs a force on the shift lever. In some embodiments, the shift lever is moveable within a pattern and is blocked from areas outside the boundaries of the pattern. The actuator(s) can be active or passive, and/or a variable mechanical gate can be used to implement the pattern. Provided shifting modes can include automatic, manual, and/or sequential modes. Other shifting modes can also be provided.

BACKGROUND OF THE INVENTION

[0001] This invention relates generally to haptic feedback devices, andmore particularly to haptic feedback interface devices used inconjunction with mechanical devices allowing desired manipulation of theinterface device.

[0002] Control of a vehicle through the use of electronically-controlledmechanisms rather than mechanically-controlled mechanisms has beenimplemented in several different forms. Typically called“steer-by-wire,” “drive-by-wire,” or “control-by-wire”, this form ofcontrol allows the user to direct electric motors and/or hydraulic orpneumatic control systems, to perform mechanical operations rather thanthe user directly performing the mechanical operations using amechanism. For example, in a standard mechanical steering mechanism inan automobile, the user moves a steering wheel, which mechanicallyrotates rods, gears, and other mechanical parts to turn the front wheelsbased on the motion of the steering wheel. In a drive-by-wire system,the user rotates the steering wheel (or moves some other type ofmanipulandum), which controls one or more electric motors, hydraulicactuators, etc., to turn the front wheels based on steering wheelmotion—there is no actual mechanical linkage between steering wheelmotion and wheel motion (unlike power assisted steering). A processor(microprocessor, etc.) can be used to sense user motion and correlate itwith motor control to achieve the corresponding steering. There areseveral advantages of control-by-wire over traditional mechanicalcontrol, including safety, since there is no mechanism to injure theuser; less effort or force required by the user to manipulate thecontrol device; more flexibility in type and motion of the controldevice used and in the control methods over the mechanism; less weightfor the mechanism; less skill required by the user in performing controltasks since a control processor can translate simple user motions intothe complex control of motors needed to perform the desired mechanicalaction; engineering advantages (e.g., it is easier to put a steeringwheel in either side of a car when using steer-by-wire); and the use ofcontrol methods such as adaptive steering algorithms.

[0003] A related control-by-wire embodiment is “shift-by-wire,” in whichan automobile or other vehicle having a driving transmission is shiftedthrough its transmission gears using electronic control rather thandirect mechanical control. Thus, instead of the user moving a shiftlever to predetermined mechanical positions to mechanically changegears, the user can manipulate an electronic control and the electronicsystem can change the actual transmission gears. For example, the usercan move a small lever forward to increase a gear ratio (e.g., fromfirst gear to second gear), or move the lever backward to decrease thegear ratio (e.g., from fifth gear to fourth gear). A variety ofdifferent electronic controls can be used in the vehicle to allow theuser to shift, such as levers, buttons, knobs, switches, etc.

[0004] One problem with existing shift-by-wire systems is that they arestill limited to a particular implementation of the physical controlmanipulated by the user. That is, the user cannot change to a differentshift pattern if he or she so desires. Furthermore, shift-by-wirecontrols do not offer the user some of the cues of mechanical systems incontrolling shifting, which may cause the control to be unintuitive orless precise. Since shifting is performed almost entirely by feel, suchmechanical cues can be important in shifting tasks.

SUMMARY OF THE INVENTION

[0005] To alleviate some of the problems in existing shift-by-wiresystems, the inventions disclosed herein provide haptic sensations for ashift-by-wire system. Haptic sensations allow a great range ofprogrammed control schemes and patterns in a control and can providemore effective user control over gear selection and other operations.

[0006] More particularly, in one embodiment a haptic shift device for avehicle includes a shift lever physically contacted and manipulatable bya user in at least one degree of freedom. At least one sensor detects aposition of the shift lever, where position data representative of theposition is derived from the sensor. A processor receives the positiondata and outputs data causing a transmission gear of the vehicle to bechanged based on the position of the shift lever. And, at least oneelectrically-controlled actuator outputs a force on the shift lever.

[0007] In some embodiments, the shift lever is moveable within a patternand is blocked from areas outside the boundaries of the pattern. Theshift lever can be blocked from the outside areas by a barrier forceoutput by the actuator. The actuator(s) can be an active actuatoroperative to output active forces on the shift lever, or a passiveactuator operative to provide resistance forces on the shift lever; or acombination of passive and active actuators can be used in variousdegrees of freedom of the shift lever. For example, the active actuatorportion can output haptic effects on the shift lever and the passiveportion can provide forces to block the shift lever from moving outsidea predetermined pattern. A mechanical gate can be used to block theshift lever from at least some of the outside areas. The mechanical gatecan be used to provide at least two different patterns, such as a manualtransmission pattern and an automatic transmission pattern. A variablemechanical gate can also be used to allow mechanical barriers to beprovided for the shift lever in all directions in the manual andautomatic modes.

[0008] In another invention, a haptic shift device for a vehicleincludes a shift lever physically contacted and manipulatable by a userin two degrees of freedom. At least one sensor detects a position of theshift lever, where position data derived from the sensor is used tocause a transmission gear of the vehicle to be changed based on thelever position. At least one electrically-controlled actuator outputs aforce on the shift lever, and a mode selector allows the user to selecta shifting mode, where at least two shifting modes have differentshifting patterns for the shift lever. The shift lever can be blockedfrom areas outside the boundaries of the shifting pattern, e.g., by abarrier force output by the actuator. The shifting modes can include anautomatic mode, a manual mode, and/or a sequential mode. Active and/orpassive actuators and mechanical gates can be used in variousembodiments and haptic effects of different types can be output on theshift lever.

[0009] In another invention, a method for shifting gears of a vehicletransmission includes providing a shift lever to be physically contactedand moved by a user in at least one degree of freedom. A position of theshift lever is detected and position data is derived from the sensor.Data causing a transmission gear of the vehicle to be changed based onthe position of the shift lever is output, and a force is output on theshift lever using the electrically controlled actuator. The shift levercan be made moveable within a pattern and blocked from areas outside theboundaries of the pattern, e.g., by a barrier force output by theactuator. Active and/or passive actuators and mechanical gates can beused and haptic effects of different types can be output on the shiftlever.

[0010] In another invention, a haptic shift device for a vehicleincludes a shift lever physically contacted and manipulatable by a userin two degrees of freedom, at least one sensor to detect a position ofthe shift lever, where a transmission gear of the vehicle can be changedbased on the position of the shift lever, at least oneelectrically-controlled actuator to output a force on the shift lever,and a mode selector allowing the user to select shifting modes of thehaptic shift device, wherein shifting modes provide different physicalcharacteristics for the shift lever. The different physicalcharacteristics can include a different range of motion of the shiftlever in at least two different modes. In some embodiments, thedifferent physical characteristics can include different forcesensations output in at least two different modes.

[0011] The present inventions provide a haptic shift device that allowshaptic sensations to be output to the user of a shift-by-wire system ina vehicle. The haptic shift device provides forces that assist inimplementing barriers to the shift lever, as well as allowingprogramming variability to the device. For example, several differentshift patterns can be provided and can be selectable by the user.Furthermore, haptic sensations output on the shift lever assist the userin shifting tasks and can provide mechanical cues in a shift-by-wiresystem.

[0012] These and other advantages of the present invention will becomeapparent to those skilled in the art upon a reading of the followingspecification of the invention and a study of the several figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013]FIG. 1 is a perspective view of one embodiment of a gear shiftdevice in a vehicle including a shift lever suitable for use with thepresent invention;

[0014]FIGS. 2, 3a, and 3 b are perspective views of one embodiment of amechanism for implementing the shift lever device of FIG. 1;

[0015]FIGS. 4a-4 d are diagrammatic illustrations of shift patternssuitable for use with the shift lever device of FIGS. 1-3 b;

[0016]FIGS. 5a-5 c are diagrammatic illustrations of a first embodimentof a mechanical gate of the present invention allowing multiple shiftpatterns;

[0017]FIGS. 6a and 6 b are diagrammatic illustrations of a secondembodiment of a mechanical gate of the present invention allowingmultiple shift patterns; and

[0018]FIG. 7 is a block diagram illustrating a haptic feedback systemsuitable for use in the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0019]FIG. 1 is a perspective view of an example of a haptic shiftdevice 10 for a vehicle. Shift device 10 is implemented in FIG. 1similar to a standard gearshift lever as found in automobiles withmanual transmission. For example, the shift device 10 can be locatedbetween the front seats in an automobile to allow the driver easy accessto the shift device while driving.

[0020] Haptic shift device 10 includes a shift lever 12 including a grip14 which is grasped or otherwise physically contacted by the user andmoved by the user in one or more directions to control the gear of thetransmission of the vehicle. The position of the shift lever determinesin which transmission gear the vehicle is present engaged. Since thedevice is integrated in a shift-by-wire system, the shift lever is notmechanically coupled to the transmission of the vehicle, but is insteadconnected to an electronic interface and system that can read theposition of the lever and control the transmission in response to theposition of the lever. Examples of mechanisms and interfaces that can beused are described below with reference to FIGS. 2 and 3.

[0021] A mode selection control 15 can be included to allow the user toselect a shifting mode of the haptic shift device 10. Control 15 isshown as a button in FIG. 1, but can be any suitable control, includinga lever, switch, displayed button on display 16, etc. Control 15 canselect, for example, between manual and automatic transmission modes,and/or between other shifting modes if implemented. Other options of thedevice can also be selected with control 15 or additional similarcontrols, such as manipulation features (damping force on the shiftlever 12; magnitude, frequency, duration, or other characteristics ofother haptic sensations output on the shift lever 12; etc.). In someembodiments, grip 14 can include one or more buttons or other controls15 to allow the user to select modes, settings, or other features of thetransmission or the vehicle. For example, a thumb button can be includedwhich the user depresses to be allowed to select automatic or manualtransmission gears with the shift lever 12. Control 15 can be positionedon a console, steering wheel, or other convenient location of a vehicle.Furthermore, one or more controls 15 can be included as softwarecontrols or switches such as buttons displayed on a display device 16.Voice control, such as commands spoken into a microphone by a user thatare processed by a microprocessor, can also be used for the equivalentof control 15.

[0022] Preferably, the haptic shift lever can be in one of multipleavailable control modes, where each mode can offer different controland/or movement options. Furthermore, the particular embodiment that isimplemented provides particular manipulation options for the user. Forexample, in some embodiments or modes, the shift lever 12 can be movedby the user in only one direction or degree of freedom, e.g. forward andback as in an automatic transmission. Other embodiments can allowleft-right and forward-back motion, as in manual transmissions having anH pattern or the like. In yet other embodiments, non-Cartesian ordiagonal motion can be allowed, for different shifting patterns. Someshifting modes may not change the shift pattern itself, but can adjustother shifting characteristics, such as the workspace (amount ofmovement allowed) of the shift lever, or the magnitude of output forces.Examples of shifting patterns and modes are described in greater detailbelow with respect to FIGS. 4, 5, and 6.

[0023] The manipulation of lever 12 is enhanced by haptic sensationsthat are output in the degrees of freedom of movement of the lever 12.Some haptic sensations are used to constrain the motion of the lever 12,while other haptic sensations can be used to provide particularsensations to the user in the motion of the lever 12. Such sensationsare described in greater detail below.

[0024] Some embodiments of the haptic shift device 10 can include adisplay device 16, such as a flat screen. For example, an LCD, plasma,CRT, or other type of display screen can be used. The display can belocated near the shift level 12 as shown, or elsewhere in the vehiclewithin the view of the driver, e.g. on the dashboard, instrument panel,heads-up display (HUD) on the windshield, etc. The display can showstatus information concerning the shift device 10 (e.g., the currentgear selected) and the transmission and other systems of the vehicle.For example, if multiple shift patterns or modes are selectable on thehaptic shift device, the currently-active shift pattern can bedisplayed, as shown in FIG. 1, where the standard 5-speed manualtransmission configuration is displayed. Other patterns can be similarlygraphically displayed to assist the user in knowing to which positionsthe shift lever 12 can be moved. In some embodiments, display 16 caninclude a touch-sensitive surface to allow a user to “touch” displayedimages or selections directly on the surface of the display 16 to selectthose images and an associated mode, setting or function.

[0025] In other embodiments, different implementations of the hapticshift device 10 can be employed. For example, the lever 12 can belocated on the steering column of the vehicle. Alternatively, adifferent control can be provided on a dashboard, floor, a door, orother surface in the vehicle within easy reach of the driver and used toselect gears, and can be provided with haptic sensations. The shiftlever can be used in a variety of vehicles that may require shifting oftransmission gears or similar functions, including automobiles, trucks,military vehicles, industrial vehicles, and other large vehicles, boatsor ships, aircraft, space vehicles, underwater vehicles, etc. Somealternate embodiments can provide a haptic shifter of the presentinvention on a remote control device that remotely controls a vehicle ortoy. In yet other alternate embodiments, the haptic shifter of thepresent invention can be used in computer simulations of vehiclecontrol, such as using a display screen to depict the illusion of movingthrough surroundings in a vehicle. Herein, the term “vehicle” isintended to refer to a physical vehicle, not a simulated vehicle (as ina computer simulation or video game).

[0026]FIGS. 2 and 3 are perspective views of one embodiment of amechanism 30 that can be used for the haptic shift device 10 to outputforces on the shift lever 12. In this embodiment, a linkage andamplification mechanism transfers forces from motors to the hapticshifter to provide high magnitude forces to the user.

[0027] Mechanism 30 can be positioned below a plate 32 (shown in FIG. 2)which includes an opening 34 through which the shift lever 12 extends.(The grip 14 on the shift lever 12 is not shown in FIGS. 2 and 3). Themechanism 30 can be mounted to the plate 32 or to another groundedsurface. The sides to the opening 34 can act as hard stops to the motionof the shift lever 12, where the opening 34 is sized to allow thepreferred workspace size for the shift lever. This embodiment allows theshift lever 12 to be moved anywhere in a two-degree-of-freedomworkspace. Other embodiments, described below, can include a mechanicalgate on the opening 34 to restrict the mechanical motion of the shiftlever to a desired pattern.

[0028] Mechanism 30 includes a linkage 36 of members that are rotatablycoupled to each other. In the described embodiment, mechanism 30 is agimbal mechanism which provides two rotary degrees of freedom to theshift lever 12. The mechanism 30 couples the shift lever 12 to agrounded or reference surface, such as plate 32 or other ground.

[0029] Gimbal mechanism 30 is preferably a five-member, closed-loopparallel linkage that includes a ground member 44, extension members 46a and 46 b, and central members 48 a and 48 b. Ground member 44 isprovided as a base member that is rigidly coupled to the plate 32 orother grounded surface and which provides stability for mechanism 30.Ground member 44 can be shaped as a 90-degree “L” piece to allow theextension members to be easily coupled to it, as shown.

[0030] The members of gimbal mechanism 30 are rotatably coupled to oneanother through the use of bearings or pivots, wherein extension member46 a is rotatably coupled to ground member 44 and can rotate about anaxis A, central member 48 a is rotatably coupled to extension member 46a and can rotate about a floating axis D, extension member 46 b isrotatably coupled to ground member 44 and can rotate about axis B,central member 48 b is rotatably coupled to extension member 46 b andcan rotate about floating axis E, and central member 48 a is rotatablycoupled to central member 48 b at a center point P at the intersectionof axes D and E. A bearing (not shown) rotatably couples the two centralmembers 48 a and 48 b together at the intersection point P. Centralmember 48 a is rotatably coupled to one end of extension member 46 a andextends at a substantially parallel relation with axis B. Similarly,central member 48 b is rotatably coupled to an end of extension member46 b and extends at a substantially parallel relation to axis A. Theaxes D and E are “floating” in the sense that they are not fixed in oneposition as are axes A and B. Axes A and B are substantially mutuallyperpendicular.

[0031] Gimbal mechanism 30 is formed as a five-member (“five-bar”)closed chain. Each end of one member is coupled to the end of anothermember. The five-bar linkage is arranged such that extension member 46a, central member 48 a, and central member 48 b can be rotated aboutaxis A in a first degree of freedom. The linkage is also arranged suchthat extension member 46 b, central member 48 b, and central member 48 acan be rotated about axis B in a second degree of freedom. Thisstructure is also disclosed in U.S. Pat. Nos. 5,731,804 and 6,104,382,which are incorporated by reference herein in their entireties.

[0032] Shift lever or handle 12 is coupled to one of the central members48 a or 48 b (member 48 b as shown) of gimbal mechanism 30 such that itextends out of the plane defined by axes D and E. Gimbal mechanism 30provides two degrees of freedom to handle 12 positioned at or near tothe center point P of rotation. The handle 16 can be rotated about axesA and B or have a combination of rotational movement about these axes.As handle 12 is moved about axis A, floating axis D varies its position,and as joystick handle 16 is moved about axis B, floating axis E variesits position.

[0033] In alternate embodiments, additional degrees of freedom can beprovided. For example, the handle 12 can be rotated about axis Cextending perpendicularly from the plane formed by floating axes D andE. This rotational degree of freedom can be provided with a sensorand/or an actuator to sense motion and apply forces in that degree offreedom. Additionally, a different degree of freedom can be added suchthat handle 12 can be linearly translated along floating axis C. Thisdegree of freedom can also be sensed and actuated, if desired.

[0034] Gimbal mechanism 30 also may include an amplification drivemechanism, such as belt drives, capstan drives, gear drives, etc. In theembodiment of FIGS. 2 and 3a-3 b, belt drives 52 a and 52 b areprovided. The belt drives 52 each include a drum 54 around which a belt56 is routed. Each drum is connected to an associated extension member46 so that the drum rotates about axis A (and the other drum rotatesabout axis B). Each belt 56 is also routed around a spindle 58 which iscoupled to the rotating shaft of an actuator 60 a or 60 b. Each actuator60 is preferably grounded to the plate 32, ground member 44, or othergrounded surface and outputs a rotary force on the shaft to rotate thespindle 58, where the belt 56 transmits the force to the drum 54 tooutput a force on the handle 12. The ratio of spindle 58 to drum 54allows the amplification of forces output by the actuator. In theembodiment shown, for example, actuators 60 are DC motors. The actuatorscan be of other types in other embodiments, such as voice coils, linearactuators, moving magnet actuators, passive actuators (e.g. brakes),pneumatic actuators, etc. Passive actuators such as brakes output aresistance force on motion of the shift lever imparted by the user,rather than outputting an active force on the lever independently of theuser as with active actuators.

[0035] Also preferably coupled to gimbal mechanism 30 are sensors 62aand 62 b, which, in the described embodiment, are coupled to therotating shafts and housings of actuators 60 a and 60 b, respectively.Sensors 62 are preferably relative optical encoders which providesignals to measure the angular rotation of the actuator shaft, which isalso indicative of the position of the handle in the degree of freedomassociated with that actuator. The electrical outputs of the encoderscan be routed to a processor (e.g. a local processor or host processor)as detailed below with respect to FIG. 7. The sensors can be located inother positions on the gimbal mechanism in other embodiments, such as atthe coupling of extension member and ground member, etc. Other types ofsensors can also be used, such as potentiometers, Hall effect sensors,resolvers, or other analog or digital sensors. It should be noted thatthe present invention can utilize either absolute or relative sensors.

Haptic Shift Patterns and Modes

[0036] Using the haptic shifting device described above, a variety ofhaptic shift patterns can be implemented to allow the user to selecttransmission gears (or make selections in other types of computerinterface applications). The shift patterns typically have areas orzones where the shift lever 12 is allowed to move, typically whereselections (such as gear selections) are positioned; and “blocked” areasor zones outside the boundaries of the permissible areas to which thelever 12 is not desired to be positioned, and therefore not allowed tobe moved to. The advantage of providing shift patterns using a hapticdevice as opposed to solely using mechanical selection is that multipledifferent shift patterns can be implemented with a single device, and inseveral embodiments the patterns can be changed using actuators andwithout moving any mechanical parts.

[0037]FIGS. 4a, 4 b, and 4 c illustrate three different shift patternsfor gear selection in a vehicle that can be implemented with a hapticshifter device of the present invention. These are just examples of themany possible different patterns that are possible.

[0038]FIG. 4a illustrates a standard manual transmission shift pattern100 (“H” pattern) for a 5-speed transmission having five forward gears,one reverse gear, and a neutral or idle gear. In one standardconfiguration, the first, third, and fifth gears are in the forwarddirection, and the second, fourth, and reverse gears are in the backwarddirection, with neutral being in the center position. The outlinerepresents the areas in which the shift lever 12 may be moved, and theareas labelled A, B, C, and D represent the blocked areas that the shiftlever 12 is not allowed to move into, where the lever runs into abarrier (mechanical or haptic) to prevent entry into those areas.

[0039]FIG. 4b illustrates a typical basic automatic transmissionshifting pattern 102 for a vehicle. In a standard automatictransmission, the shifting is performed in a single linear dimension,with the standard gears “park” (P), “reverse” (R), “neutral” (N),“drive” (D), and “low gear” (L) selectable by the shift level in asequential order. The shift lever is unable to move into blocked areasoutside the linear pattern.

[0040] With a haptic shifter device of the present invention, both themanual and the automatic transmission patterns can be implemented in asingle device as different shifting modes. The user can select whichpattern mode is currently active, and thus which transmission scheme isimplemented. For example, the user can select a separate control such asa button, switch, or lever to change the shift pattern. Once the patternis selected, the user can then move the shift lever 12 within the areasallowed within the new pattern. One way to represent the automatictransmission pattern within the shift pattern of the manual transmissionas shown in FIG. 4a is to provide the linear automatic transmissionwithin one of the vertical channels of the manual transmission pattern.For example, as shown in FIG. 4b, the automatic transmission pattern canbe provided within the center vertical channel of the manualtransmission pattern (where the 3-N-4 gears are located in FIG. 4a). Inother embodiments, the automatic transmission pattern can be located inone of the other vertical channels, or separate from the manual pattern,e.g. to the side of the manual pattern.

[0041]FIG. 4c is an example of another shift pattern 104 selectable bythe user for the haptic shift device 10, this one being a “sequential”transmission. Similar to the automatic transmission, only a singlelinear channel is provided. The shift lever 12 can be moved by the userup to the “+” symbol area to shift the transmission up one gear, and thelever can be moved back to the “−” symbol area to shift the transmissiondown one gear. In some embodiments, the user must move the lever to thecenter position and then to the desired selection before an additionalsequential selection can be made. The center area between plus and minussymbols can be a neutral gear or selection. Some embodiments can providea spring return force on the shift lever to automatically return thelever to the center position. Such a spring return force can beimplemented with mechanical springs, and/or as a spring force output byan actuator 60.

[0042] Other types of patterns are possible in other embodiments. Forexample, the manual transmission pattern can arrange the gears radiatingfrom a center point, or in horizontal or diagonal channels. Additionalshift patterns can be included in the list of possible shift patternsselectable by the user.

[0043] For example, FIG. 4d illustrates another possible shift pattern106 for use with the haptic shifter of the present invention, in whichdiagonal channels are provided. in this shift pattern example, theautomatic gears 107 are arranged in a linear pattern similar to otherautomatic modes. From the low gear “L” 108, two other low gearselections 110 are selectable by the user. In this example, the shiftlever 12 can be moved from the L gear 108 through either diagonalchannel 109 to select the low gears 110. Other embodiments of shiftpatterns can include diagonal channels in a variety of configurations aswell. The diagonal channels can be implemented using passive and/oractive forces and/or mechanical gates, similarly to those embodimentsdescribed below.

[0044] Other modes besides shift pattern modes can be implemented in ahaptic shifter device of the present invention. For example, one modemay provide a large workspace for the shift lever for those users thatprefer moving the lever 12 larger distances. A different mode, selectedby the user, can provide a smaller workspace for the shift lever forthose users that prefer a shorter “throw” to the lever. The smallerworkspace can be implemented using actuators to cause barrier forcesbefore the mechanical barriers are reached by the lever.

[0045] Other modes can also be implemented. For example, one mode maycause a particular set of force sensations to be output, while adifferent mode can cause a different set of force sensations to beoutput. In one example, one mode can provide force sensations only forlever motion into barriers such as the pattern limits, while anothermode can provide barrier sensations as well as other types of forcesensations such as detents, hills, etc. for lever motion not intobarriers. The user may be able to set up particular force sensationprofiles that are customized for his or her preferences. In addition, amagnitude control can be provided to globally adjust the gain of allforce sensations output on the shift lever.

Haptic Shifter Implementations

[0046] Several different implementations are possible for the hapticshift device 10, some implementations using all haptic functionality andother implementations using a mix of haptic and mechanical components.

[0047] Fully Active Implementation

[0048] This implementation provides a full haptic implementation, inwhich forces and barriers output on the shift lever 12 are produced bythe actuators 60. One example of this implementation is shown above inFIGS. 2, 3a, and 3 b, where the shift lever has the full2-degree-of-freedom workspace and the barriers within the shift patternare caused by actuator output forces. The mechanism, actuator forcetransmission, and actuators preferably are scaled such that theresistive force can create “hard” barriers and boundaries that feel likemechanical barriers to lever motion. The actuators can output forces toact as a very high stiffness spring when the lever 12 is in an areawhere horizontal or vertical movement is not permitted. High-fidelity“hill” or detent sensations can be output when the lever 12 is movedinto and out of gear or between selections, e.g. at the lines dividingselections as shown in FIGS. 4a-c. A hill sensation is a force thatramps up in magnitude with distance until the force “peak” or “summit”is reached (e.g., at the midpoint between selections), at which pointthe force switches direction and pushes the lever into the nextselection, initially with high magnitude and sloping down as the levermoves further into the next selection. This is described in greaterdetail in copending application Ser. No. 09/783,936, which isincorporated herein by reference in its entirety. Other force sensationscan also be provided between selections or at barriers, such as detents,springs, jolts, damping, vibrations, textures, etc., as described below.

[0049] In modes providing the automatic, sequential, or other similarlinear shift patterns, the X-axis (left-right) actuator can always beoutputting a high-stiffness spring force, e.g. in a “locked” springmode, to provide barriers to horizontal motion. This force attempts toprevent any motion of the shift lever 12 to the left or right of thecenter channel. The Y-axis (forward-back) actuator can output forceeffects, such as hill effects, when the shift lever is moved between anyof the selections.

[0050] One advantage of the fully active implementation is that aninfinite variety of shift patterns can be provided and selected by theuser, and the shift patterns can include diagonal as well as X- andY-axis movements of the shift lever. Disadvantages include the highbarrier forces required to prevent the user from moving the lever intoblocked zones, which require larger and higher cost actuators,transmissions, and other components.

[0051] Fully Active Implementation with Gate

[0052] This implementation is similar to the fully active implementationdescribed above, but adds a mechanical gate to the workspace of theshift lever 12. For example, the gate can be positioned over the opening34 in the plate 32. The gate can simply provide an opening that is inthe exact shape of one of the implemented patterns, and which allowsadditional patterns within the gate. For example, a manual transmissionpattern gate, in the shape as shown by FIG. 4a, can be used, which alsoallows the automatic and sequential shift patterns of FIGS. 4b and 4 cto be used.

[0053] The mechanical gate prevents the lever 12 from moving into theblocked areas (such as A, B, C, and D) by providing mechanical hardstops at the boundaries to those areas. This can be much more effectivethan the purely haptic implementation described above, since themechanical hard stops cannot be overcome by a user and require noactuator output, allowing smaller actuators to be used for other hapticsensations. The actuators 60 can be used to output force sensations onthe lever 12 when the lever moves between or into gear selections or outof the neutral positions, e.g. hill sensations, detents, etc. Actuators60 can output barrier forces when necessary, e.g., the actuators 60 canoutput X-axis barrier forces in automatic, sequential, and other singlevertical channel modes to prevent the lever 12 from moving out of theused Y-axis channel and into other manual transmission Y-channels. Thus,the gate adds a number of advantages to the fully active shiftingdevice. One reason not to include the gate is to allow other,non-traditional shift patterns to be programmed in the haptic shifter,e.g. patterns having diagonal paths to select gears.

[0054] In some embodiments, a gate may not be desired to allow freemotion of a lever within the entire range, or a particular range, of thelever. For example, some embodiments may use a lever for steering avehicle in a steer-by-wire implementation. A steer-by-wire embodiment(e.g. using a lever or steering wheel) can use the haptic sensations andother features of the inventions discussed herein.

[0055] Some embodiments of this implementation can include both amechanical wall using the mechanical gate as well as a haptic wallsuperimposed on or located just inside the mechanical wall. For example,the dashed line 106 of FIG. 4a can represent a haptic wall that existsjust inside the mechanical gate, represented by the solid line 108. Thedistance of the haptic wall from the mechanical wall can be programmedby the designer, and preferably allows enough distance to implement astrong haptic repulsive spring. The haptic wall can be implemented as astiff spring output by the actuators 60, as explained above, to preventmovement into the areas behind the boundaries of the permitted areas.The haptic wall can provide a small spring force to the lever thatsoftens the impact of hitting the hard mechanical stop of the gate. Inaddition, use of the haptic wall can be less abusive to the mechanism,extending the life and reliability of the mechanism.

[0056]FIGS. 5a, 5 b, and 5 c illustrate an embodiment of the fullyactive implementation with a gate, where a variable mechanical gate isused to allow manual and automatic shifting patterns having completelyenclosed mechanical barriers. In Fig. 5a, variable gate 110 is shown ina manual pattern position, where first portion 112 of the gate 110 ispositioned adjacent to second portion 114 of the gate 110 to provide amiddle X-axis (horizontal) channel 116. Shift lever 12 can move withinthe channel 116 to access the gear shift positions of the pattern as ina standard manual gearshift.

[0057] In FIG. 5b, the variable gate 110 has been slid or moved toprovide an automatic transmission shift pattern having only a singlevertical channel. First portion 112, second portion 114, or both firstportion 112 and second portion 114, have been moved towards the shiftlever 12 as indicated by arrows 118 to close the center X-axis channel116, allowing the shift lever 12 to be moved only within the verticalchannel 120. The automatic mode selections are implemented within thechannel 120, e.g. with hill or other types of sensations providedbetween selections, etc.

[0058]FIG. 5c shows the portions 112 and 114 of the gate 110 in relationto each other. When in automatic transmission mode, one portion 112 canoverlap the other portion 114 to close the horizontal channel 116.Portions 112 and/or portion 114 can be moved by motors, solenoids orother types of actuators (not shown) or, in some embodiments, can bemanually moved by a user.

[0059] One advantage of the variable gate embodiment of FIGS. 5a-c isthat no barrier forces need be output by the actuators in automatic modeto prevent horizontal movement of the shift lever, since the gate hasmoved to provide mechanical barriers that are more stiff than hapticbarriers. This allows the actuators used in the device 10 to be smallerand output less force, since the haptic feedback from the actuators isused only to simulate springs, hills, detents, and similar sensations toenhance the selection process of the lever rather than to provide highforce magnitude barriers to lever motion. In some embodiments, theX-actuator can be eliminated, while other more likely embodiments canuse an X-actuator for providing a horizontal centering spring inappropriate shift patterns.

[0060]FIGS. 6a and 6 b illustrate another embodiment 130 of a variablegate used with the fully active embodiment similar to the embodimentdescribed with reference to FIGS. 5a-c. Gate 130 similarly providesmechanical stops to all motion of the shift lever 12 in both automaticand manual modes. In gate 130, a single gate portion 132 is provided inthe manual shift pattern. Two gate fingers 134 are provided adjacent tothe center projections 136 of the gate portion 132 and can be moved orslid as shown by arrow 138. When the fingers 134 are slid forward towardthe gear positions 1, 3, and 5, they close off the center horizontalchannel 140 to prevent the shift lever 12 from moving out of thevertical channel 141 when the device is in automatic mode. When thefingers 134 are retracted, in a direction toward the gear positions 2,4, and R, the center horizontal channel 140 is open to allow the shiftlever 12 to move into the other vertical channels in the manualtransmission mode. The fingers can be moved independently to createadditional shift patterns, if desired. As in the embodiment of FIGS.5a-c, the gate 130 allows more rigid mechanical stops to be used in bothmodes, without requiring the actuators to output barrier forces to blocklever movement. This allows lower cost and smaller actuators and/orsimpler transmissions to be used in the device. Gate fingers 134 can bemoved with dedicated actuators such as motors (not shown), or can bemanually moved by the user when selecting the transmission mode.

[0061] Other implementations of variable mechanical gates can also beused. For example, linear-moving gate(s) can be used to block thediagonal channels for the manual gears 108 in the shift pattern of FIG.4 in an automatic or sequential mode, and can be used to block theautomatic gears in a manual mode. In another embodiment, a gate thatmoves in a rotational fashion can be implemented. For example, a numberof plates can be arranged radially around a central shift lever, whereone or more of the plates can be shifted or slid rotationally around thelever axis to open up one or more channels between the plates. This canallow horizontal, vertical, or diagonal channels for the shift lever tobe moved through to select gears in particular shift pattern modes.

[0062] Active Y-Axis and Passive X-Axis Implementation

[0063] In this implementation of the haptic shifter device 10, theactive actuator outputting forces in the X-axis, such as a DC motor, isreplaced with a passive actuator, such as a brake, and a mechanicalspring. Since the X-axis motion of the shift lever 12 is either fullylocked out (in automatic or sequential modes) or is limited to linearmotion with a centering spring in the center horizontal channel (neutralzone in a manual transmission), a fully active actuator may not berequired in some embodiments. The brake or other passive actuator can belocked whenever the stick is not at the neutral position in manualtransmission mode (at or near symbol “N” in FIG. 4a), i.e. X-axis lockedin any gear position. The brake can be unlocked when the shift lever ismoved back into the horizontal channel of the manual pattern (it wouldstay locked in automatic or sequential mode). The Y-axis actuator can befully active in this embodiment, such as a DC motor, and can be used togenerate force sensations on the lever 12 when it is moved, e.g. togenerate hills, damping and springs that define the way the shiftingfeels to the user. The active Y-axis actuator can also be used toprevent the user from shifting the lever into areas intended to beblocked (such as zones A, B, C, and D as shown in FIG. 4a) when thelever 12 is moved within the horizontal channel between verticalchannels of the manual transmission pattern.

[0064] One advantage of the use of passive actuators such as brakes isthat they have a significantly higher holding force than an activeactuator of comparable size, and thus can provide a very strong opposingor barrier force to the user without requiring great amounts of power.This allows the blocked areas of the shifting pattern to be more easilyimplemented with lower cost and smaller sized components. A disadvantageof brakes is that when they are active and resisting user force, theyrestrict motion in both directions of that degree of freedom, causingsensing of motion away from a barrier to be more complex. One way tosense motion with passive actuators is described in U.S. Pat. No.5,767,839, incorporated herein by reference in its entirety.

[0065] Active Y-Axis and Passive X-Axis Implementation with Gate

[0066] This implementation is similar to the implementation describedabove in which an active actuator is used to output force sensations forY-axis motion of the shift lever and a passive actuator such as a brakeis used for the X-axis motion. This implementation adds a mechanicalgate, which can be similar to any of the gate embodiments describedabove. The gate eliminates the need for the Y-axis actuator to output abarrier force on the shift lever when the lever is in the center channeland moves into a blocked area. Thus, the Y-axis actuator can be madesmaller since it only outputs force sensations to enhance the motion andselection of the shift lever, such as hills, detents, damping, andsprings.

[0067] Active/Passive Y-Axis and Passive X-Axis Implementation

[0068] This implementation can use a combination active actuator andpassive actuator for the Y-axis actuator. The active actuator portion,such as a motor, can be used for the active haptic effects such ashills, detents, and springs. The passive actuator portion, such as abrake, can be used to provide barrier forces to prevent motion out ofthe neutral zone between gear positions. The X-axis actuator is apassive actuator and preferably has spring centering so that the shiftlever always is biased to return to the neutral position (which is atthe center of the pattern in FIG. 4a). In the standard manualtransmission pattern of FIG. 4a, since there is no mechanical gate inthis implementation, the X-axis passive actuator locks whenever thelever is moved in a Y-direction outside of the neutral position to keepthe lever within a vertical channel. Similarly, the Y-axis passiveactuator locks whenever the shift lever moves in a X-direction outsideof one of the three shift columns (in manual mode) to prevent Y-axismotion into a blocked area. Preferably, extremely fast response of theactuators is provided when the shift lever is moved into or out of thecenter horizontal channel.

[0069] Some embodiments can use the passive actuators to output passivehaptic effects on the lever as well, such as damping, brake jolts,passive detents, etc. In some embodiments, a mechanical gate can beadded to ease the stiffness and latency requirements of this embodiment.

[0070] Combinations of active actuators and passive actuators can beimplemented in a variety of ways. For example, if a mechanism has twodegrees of freedom, an active actuator can be coupled to the linkages ofone degree of freedom to provide active forces in that degree offreedom, while a passive actuator can be coupled to the linkages of theother degree of freedom to provide passive forces in that degree offreedom. If both active and passive forces are desired for a particulardegree of freedom, then both active and passive actuators can be coupledto the appropriate linkages or components. For example, an activeactuator can be rigidly coupled to one side of a moving linkage, while apassive actuator can be coupled to the other side of the linkage, wherethe passive actuator can be coupled by a member having a small amount offlex to allow proper alignment and a small amount of play to allowsensing of motion when the brakes are locked. Either or both of theactuators can then be energized to provide forces in that degree offreedom.

[0071] Active/Passive Y-axis and Active/Passive X-Axis Implementation

[0072] A combination of active actuator and passive actuator is used tooutput forces in both X-axis and Y-axis in this embodiment. The activeactuator portions, such as motors, can be used for active hapticsensations, such as hills and springs, and the passive actuatorportions, such as brakes, can be used to prevent motion of the shiftlever outside of the desired pattern. The X-axis actuator can use thebrake for preventing X-axis motion when the device is in automatic orsequential mode (or other similar mode), and the active motor canprovide spring centering.

[0073] If this implementation is used without a mechanical gate, theX-axis brake can lock whenever the shift lever moved in a Y-directionwithin one of the vertical channels of the shift pattern (and not in thecenter horizontal channel), thus preventing X-axis motion in thatchannel. The Y-axis brake can lock whenever the shift lever moves in anX-direction outside of one of the vertical shift channels (in manualmode). Similar to the above-described embodiments, a mechanical gate canbe also be used to provide increased stiffness and stronger barrierforces.

[0074] Fully Passive Implementation

[0075] This implementation uses only passive actuators, such as brakes,for X-axis and Y-axis motion of the shift lever. The brakes arealternately applied to the shift lever to prevent the shift lever frommoving outside the selected shift pattern. Mechanical springs can beused to provide a spring centering force on the shift lever, causing itto be biased towards the center neutral position N. When in automatic,sequential, or similar one-channel mode, the X-axis brake prevents theuser from moving the shift lever outside the center channel. When inmanual mode, the Y-axis brake prevents the user from moving the shiftlever from the center horizontal channel into the areas desired to beblocked (e.g. areas A, B, C, or D). When the shift lever is moved to agear position in manual mode, the brakes can lock the lever in place toprevent the spring bias from moving the stick. The brakes can alsoproduce haptic sensations, such as detents, damping, etc. to simulatethe lever falling into gear positions and to inform the user of thecurrent selection. In automatic mode and other modes as desired, a lightresistance can be applied to the shift lever by the brakes to negate thespring force provided by the mechanical springs. Alternatively, inautomatic mode the brakes can lock in each gear, and a button or othercontrol on the shift lever can be depressed by the user to release thebrakes and allow the shift lever to be moved to another gear position.In some embodiments, the brakes can be released based purely on positioninformation of the shift lever, e.g. when the lever is moved away fromone gear toward another gear (the motion can be sensed when the brakesare locked using, for example, a small amount of play in the lever asdescribed in U.S. Pat. No. 5,767,839).

[0076] It should be noted that the functions of the haptic shifterdevices described above can also be used for simulated vehicles. Forexample, a joystick device for inputting directional signals or data toan electronic device, computer, or video game device can include themodes and haptic feedback described herein. For example, a joystickhaving these shift patterns can be used to simulate a stickshift orshift lever to change simulated gears in a simulated vehicle in computersimulation, where a view of a driver is simulated by displaying imageson a display device of the computer system. Other interface devices,such as a rotatable knob having lateral directional motion, a mouse ortrackball, or other moveable manipulandum ca be used with the movementpatterns and modes described herein.

[0077]FIG. 7 is a block diagram illustrating an electromechanical system200 suitable for use with the haptic shifter device of the presentinvention. A haptic feedback system including many similar components isdescribed in detail in U.S. Pat. No. 5,734,373, which is incorporated byreference herein in its entirety.

[0078] In one embodiment, the controlled device includes an electronicportion having a local processor 202, local clock 204, local memory 206,sensor interface 208, and actuator interface 210.

[0079] Local processor 202 is considered “local” to the haptic shifterdevice 10, where “local” herein refers to processor 202 being a separateprocessor from any other processors, and refers to processor 202 beingdedicated to haptic feedback and/or sensor I/O for the lever 12. Theprocessor 202 can read sensor signals from the sensors or sensorinterface and determine the gear of the vehicle that has been selectedby the shift lever 12, and can then provide appropriate data to acontrol system or other processor to mechanically cause the gear of thevehicle to be shifted. For example, the control system can control otheractuators to move the appropriate mechanical parts to shift transmissiongears, as is well known to those skilled in the art of shift-by-wire.Alternatively, processor 202 can simply pass position data to a controlsystem which determines from the data the proper vehicle gear andcontrols the shift to that gear. In yet other embodiments, processor 202can control the shifting process in the vehicle as well.

[0080] In some embodiments, processor 202 can also calculate appropriateforces from the sensor signals, time signals, and force processesselected in accordance with a host command, and output appropriatecontrol signals to the actuators to output haptic sensations on theshift lever. In other embodiments, other processors can determine andcontrol forces. Processor 202 can be a microprocessor (onemicroprocessor chip, multiple processors, co-processor, digital signalprocessor (DSP), etc.). Or, the processor 202 can be fixed digitallogic, an ASIC, state machines, or other type of processor.

[0081] A local clock 204 can be coupled to the processor 202 to providetiming data, and local memory 206, such as RAM and/or ROM, is preferablycoupled to processor 202 to store instructions, temporary and otherdata, calibration parameters, adjustments to compensate for sensorvariations, and/or the state of the device. A display 16 can be providedin some embodiments and coupled to local processor 202. Alternatively, adifferent processor or other controller can control output to thedisplay 16.

[0082] Sensor interface 208 may optionally be included in to convertsensor signals provided by sensors 214 to signals that can beinterpreted by the processor 202. For example, sensor interface 208 canreceive signals from a digital sensor 214 such as an encoder and convertthe signals into a digital binary number. An analog to digital converter(ADC) can also be used. Alternately, processor 202 can perform theseinterface functions. Actuator interface 210 can be optionally connectedbetween the actuator(s) 216 and processor 202 to convert signals fromprocessor 202 into signals appropriate to drive the actuators. Actuatorinterface 210 can include power amplifiers, switches, digital to analogcontrollers (DACs), and other components. In alternate embodiments,actuator interface 210 circuitry can be provided within processor 202 orin the actuator(s). A power supply 212 of any of various types(including car battery or alternator, in an automobile) can be coupledto the actuator and/or actuator interface 210 to provide electricalpower for the actuators.

[0083] The mechanical portion of the system can include some or all ofthe components needed for the allowed motions of the shift lever 12,some examples of which are described above. Sensors 214 sense theposition, motion, and/or other characteristics of lever 12 in one ormore degrees of freedom and provide signals to processor 202 (or otherprocessor) including information representative of thosecharacteristics. A sensor 214 can be provided for each degree of freedomalong which lever 12 can be moved, or, a single compound sensor can beused for multiple degrees of freedom. Examples of suitable sensorsinclude the sensors 62 of FIG. 3b, optical encoders, analog sensors suchas potentiometers, Hall effect magnetic sensors, optical sensors such asa lateral effect photo diodes, tachometers, accelerometers, etc.Furthermore, either absolute or relative sensors may be used.

[0084] Actuators 216 transmit forces to lever 12 in one or moredirections, typically in rotary degrees of freedom in response tosignals output by processor 202 or other electronic logic or device,i.e., it is “electronically-controlled.” The actuators 216 produceelectronically modulated forces which means that processor 202 or otherelectronic device controls the application of the forces. An actuator216 can be provided for each degree of freedom. Actuators 216 can beactive actuators, such as a linear current control motor, stepper motor,pneumatic/hydraulic active actuator, a torquer (motor with limitedangular range), magneto-rheological brakes, voice coil actuator, etc.Passive actuators can also be used, including magnetic particle brakes,friction brakes, or pneumatic/hydraulic passive actuators, and generatea damping resistance or friction in a degree of motion. Embodimentsusing active and passive actuators are described in detail above.

[0085] Mechanism 218 is used to translate motion of lever 12 to a formthat can be read by sensors 214, and to transmit forces from actuators216 to lever 12. Some examples of mechanism 218 are described above.Also, a drive mechanism such as a belt drive, gear drive, or capstandrive mechanism can be used to provide mechanical advantage to theforces output by actuator 216 and/or to provide enhanced sensingresolution.

[0086] Other input devices 220 can be included to send input signals toprocessor 202. Such input devices can include buttons or other controlsused to supplement the input from the panel to the controlled device.Also, dials, switches, voice recognition hardware (e.g. a microphone,with software implemented by processor 202), or other input mechanismscan also be included to provided input to processor 202 or to theactuators 216. A deadman switch can be included on or near the lever 12to cause forces to cease outputting when the user is not contacting thelever as desired to prevent the lever from moving on its own when theuser is not touching it, e.g. contact of a user's hand or digit (finger,thumb, etc.) with the lever can be detected using optical, resistive,inductive, force/pressure, or other sensors, pressure on the lever fromthe user can be detected using well known sensors, the user's handweight on the lever can be detected, force on the lever can be measuredusing strain gauges, etc.

[0087] One or more other processors 224 can be included in someembodiments to communicate with local processor 202. Processors 202 and224 are preferably coupled together by a bi-directional bus 226.Additional electronic components may also be included for communicatingvia standard protocols on bus 226. These components can be included inthe device or another connected device. Bus 226 can be any of a varietyof different communication busses. For example, a bidirectional serialor parallel bus, a wireless link, a network architecture (such asCANbus), or a unidirectional bus can be provided between processors 224and 202.

[0088] Other processor 224 can be a separate microprocessor (or othertype of processor, as described above for processor 202) in a differentdevice or system that coordinates operations or functions with thecontrolled device. For example, other processor 224 can control theactual shifting of gears of a vehicle, as described above. In someembodiments, another processor 224 can be provided in a separate controlsubsystem in a vehicle, where the other processor 224 controls systemssuch as the temperature system in the car, or the position of mechanicalcomponents (car mirrors, seats, the transmission shift points orpositions, etc.), or a central display device that displays informationfrom various systems. Or, the other processor 224 can be a hostprocessor or centralized controller for many systems including thecontrolled haptic shifter device and processor 202. The two (or more)processors 202 and 224 can exchange information as needed to facilitatecontrol of various systems, output event notifications to the user, etc.For example, if other processor 224 has determined or found out that thevehicle is malfunctioning in some manner, the other processor 224 cancommunicate this information to the local processor 202, which then canoutput a particular indicator on display 16 or other display (and/or ahaptic sensation on the shift lever) to warn the user. Or, if the lever12 is allowed different modes of shifting or control, the otherprocessor 224 can control some or all of the different modes.

[0089] In other embodiments, other processor 224 can be a hostprocessor, for example, that commands the local processor 202 to outputforce sensations by sending host commands to the local processor. Thehost processor can be a single processor or be provided in a computersuch as a personal computer, workstation, video game console, portablecomputer or other computing or display device, set top box, etc. Thehost processor can include random access memory (RAM), read only memory(ROM), input/output (I/O) circuitry, and other components of computerswell-known to those skilled in the art. The host processor can implementa host application program with which a user interacts using lever 12and/or other controls and peripherals. The host application program canbe responsive to signals from lever 12. In some embodiments, the hostapplication program can output force feedback commands to the localprocessor 202 and to the lever 12. In a host processor embodiment orother similar embodiment, processor 202 can be provided with softwareinstructions to wait for commands or requests from the host processor,parse/decode the command or request, and handle/control input and outputsignals according to the command or request.

[0090] For example, in one force feedback embodiment, host processor 224can provide low-level force commands over bus 26, which local processor202 directly transmits to the actuators. In a different force feedbacklocal control embodiment, host processor 224 provides high levelsupervisory commands to processor 202 over bus 226, and processor 202manages low level force control loops to sensors and actuators inaccordance with the high level commands and independently of the hostprocessor 224. In the local control embodiment, the processor 202 canindependently process sensor signals to determine appropriate outputactuator signals by following the instructions of a “force process” thatmay be stored in local memory 206 and includes calculation instructions,formulas, force magnitudes (force profiles), and/or other data. Theforce process can command distinct force sensations on the lever 12,such as damping, springs, barriers, detents, vibrations, textures,jolts, etc. Some examples of such operation of local processor in forcefeedback applications is described in greater detail in U.S. Pat. No.5,734,373.

[0091] In an alternate embodiment, no local processor 202 is included inthe interface device, and a processor such as processor 224 controls andprocesses all signals to and from the components of the haptic shiftdevice 10. Or, hardwired digital logic can perform any input/outputfunctions to the shift device 10.

Force Sensations

[0092] A number of force sensations are now described which are suitablefor use with the haptic shifter devices described herein.

[0093] Force effects output on the lever 12 can include springs,dampers, textures, vibrations, detents, jolts or pulses, textures,inertia, friction, obstructions (barriers), or dynamic force effects.Many of these effects are described in other applications, such asapplications Ser. No. 09/783,936 and U.S. Pat. Nos. 5,734,373;6,147,674; 6,154,201; and 6,128,006, all incorporated herein byreference in their entirety. The force sensations can be integrallyimplemented with the control functions performed by the lever 12. Someof the sensations (such as springs) can only be output using activeactuators.

[0094] A basic force sensation is force detents that are output atparticular predefined or regularly-spaced positions of the lever 12 toinform the user how much the lever has moved and/or to designateparticular positions of the lever. The force detents can be simple joltor bump forces output in commanded directions to indicate a detent'sposition or mark a particular position of the lever, or the detents caninclude forces that attract the lever to the particular position and/orresist movement of the lever away from that position. Force feedback“snap-to” detents can also be provided, where a small force biases theknob to the detent position when it is just outside the position. Sometypes of detents are described in U.S. Pat. Nos. 6,154,201 and5,734,373.

[0095] Another type of force sensation that can be output on lever 12 isa spring force. The spring force can provide resistance to movement ofthe lever in either direction to simulate a physical spring between thelever and ground. This can be used, for example, to “snap back” thelever to its rest or center position after the user lets go of thelever. A damping force sensation can also be provided on lever 12 toslow down the motion of the lever based on the lever's velocity.Small-magnitude spring forces can also be used for detents or otherfeatures.

[0096] A “hill” force effect can be used in some embodiments. The hillforce effect acts as an increasingly resistive force until the “peak” ofthe hill is reached, after which point the force assists the user tocontinue to move away from the peak. Such an effect can be used betweengear selections of the shift lever, for example. Some examples of hilleffects are described in pending application Ser. No. 09/783,936.

[0097] A barrier force effect is meant to convey to the user that thelever has reached a limit to its motion and physically blocks the shiftlever, either partially or totally, from moving to the positions“behind” the barrier. One way to implement a barrier effect is toprovide a simple spring force having a high magnitude or “stiffness.” Aspring of the prior art is typically modeled using a relationship suchas F=kx, where the resistive force output is linearly proportional tothe distance that the knob is moved into the spring. Barriers havinglinear, exponential, or other types of profiles can be used; somebarrier effects are described in copending U.S. application Ser. No.09/783,936, filed Feb. 14, 2001. Other types of barrier effects can alsobe implemented.

[0098] Other force sensations can be output to inform the user of endsof travel for the lever 12. For example, a jolt force can be output thatis stronger in magnitude than normal detents, which informs the userthat the end of a value range or other range has been reached or willsoon be reached.

[0099] Any of these force sensations can be combined to provide multiplesimultaneous force effects.

[0100] While this invention has been described in terms of severalpreferred embodiments, there are alterations, modifications, andpermutations thereof which fall within the scope of this invention. Itshould also be noted that the embodiments described above can becombined in various ways in a particular implementation or embodiment.Furthermore, certain terminology has been used for the purposes ofdescriptive clarity, and not to limit the present invention. It istherefore intended that the following appended claims include suchalterations, modifications, and permutations as fall within the truespirit and scope of the present invention.

1. A haptic shift device for a vehicle, the haptic shift devicecomprising: a shift lever physically contacted and manipulatable by auser in at least one degree of freedom; at least one sensor operative todetect a position of said shift lever in said at least one degree offreedom, wherein position data representative of said position isderived from said at least one sensor; a processor able to receive saidposition data and output data causing a transmission gear of saidvehicle to be changed based on said position of said shift lever; and atleast one actuator operative to output a force on said shift lever, saidat least one actuator being electrically controlled.
 2. A haptic shiftdevice as recited in claim 1 wherein said shift lever is moveable withina pattern and is blocked from areas outside the boundaries of saidpattern.
 3. A haptic shift device as recited in claim 2 wherein saidpattern includes at least one channel for said shift lever allowingdiagonal movement of said shift lever relative to a Cartesianorientation of said pattern.
 4. A haptic shift device as recited inclaim 2 wherein said shift lever is blocked from said outside areas by abarrier force output by said at least one actuator.
 5. A haptic shiftdevice as recited in claim 4 wherein one of said at least one actuatorsis an active actuator operative to output active forces on said shiftlever.
 6. A haptic shift device as recited in claim 4 wherein one ofsaid at least one actuators is a passive actuator operative to provideresistance force s on said shift lever.
 7. A haptic shift device asrecited in claim 1 wherein said at least one actuator includes twoactuators, and wherein one of said actuators is a passive actuatoroperative to provide resistance forces on said shift lever and the otherof said actuators is an active actuator operative to output activeforces on said shift lever.
 8. A haptic shift device as recited in claim1 wherein said at least one actuator includes two actuators, and whereinboth of said actuators are active actuators operative to output activeforces on said shift lever.
 9. A haptic shift device as recited in claim1 wherein said at least one actuator includes two actuators, and whereinboth of said actuators are passive actuators operative to provideresistance forces on said shift lever.
 10. A haptic shift device asrecited in claim 1 wherein said at least one actuator includes at leastone combination of an active actuator portion and a passive actuatorportion for a particular degree of freedom of said shift lever.
 11. Ahaptic shift device as recited in claim 10 wherein said active actuatorportion outputs haptic effects on said shift lever and said passiveportion provides forces to block said shift lever from moving outside apredetermined pattern.
 12. A haptic shift device as recited in claim 2further comprising a mechanical gate implementing said pattern, whereinsaid shift lever is blocked from at least some of said outside areas bysaid mechanical gate.
 13. A haptic shift device as recited in claim 11wherein said mechanical gate is used to provide two different patterns,one of said patterns being a manual transmission pattern having at leasttwo vertical channels joined by a horizontal channel and used in amanual mode, and another of said patterns being an automatictransmission pattern having a single vertical channel and used in anautomatic mode or sequential mode.
 14. A haptic shift device as recitedin claim 13 wherein said mechanical gate is a variable mechanical gatehaving at least one mechanically moving component that allows mechanicalbarriers to be provided for said shift lever in multiple directions insaid manual mode and said automatic mode.
 15. A haptic shift device asrecited in claim 14 wherein said at least one mechanically movingcomponent includes a plurality of gate fingers that are slid to block ahorizontal channel in said pattern of said manual mode.
 16. A hapticshift device as recited in claim 14 wherein said at least onemechanically moving component includes a gate component that is movedlinearly to open or block a channel of at least one of said shiftpatterns.
 17. A haptic shift device as recited in claim 14 wherein saidat least one mechanically moving component includes a gate componentthat is moved rotationally to open or block a channel of at least one ofsaid shift patterns.
 18. A haptic shift device as recited in claim 1wherein said at least one actuator is controlled by a processor tooutput haptic effects on said shift lever.
 19. A haptic shift device asrecited in claim 1 wherein said processor is a shift lever processorthat is in communication with a second processor, said second processorcoordinating functions of said vehicle not related to said haptic shiftdevice.
 20. A haptic shift device as recited in claim 1 wherein saidshift lever can be moved in two rotary degrees of freedom, wherein saidshift lever is coupled to a fivemember closed-loop gimbal mechanism. 21.A haptic shift device for a vehicle, the haptic shift device comprising:a shift lever physically contacted and manipulatable by a user in twodegrees of freedom; at least one sensor operative to detect a positionof said shift lever in said two degrees of freedom, wherein positiondata representative of said position is derived from said at least onesensor, wherein said position data is used to cause a transmission gearof said vehicle to be changed based on said position of said shiftlever; at least one actuator operative to output a force on said shiftlever, said at least one actuator being electrically controlled; and amode selector allowing said user to select one of a plurality ofshifting modes of said haptic shift device, wherein at least two of saidshifting modes have different shifting patterns for said shift lever.22. A haptic shift device as recited in claim 21 wherein said shiftlever is blocked from areas outside the boundaries of said shiftingpattern.
 23. A haptic shift device as recited in claim 22 wherein saidshift lever is blocked from said outside areas by a barrier force outputby said at least one actuator.
 24. A haptic shift device as recited inclaim 23 wherein said shifting modes include at least one of anautomatic mode, a manual mode, and a sequential mode.
 25. A haptic shiftdevice as recited in claim 23 wherein said shifting modes include anautomatic mode, a manual mode, and a sequential mode.
 26. A haptic shiftdevice as recited in claim 23 wherein one of said at least one actuatorsis an active actuator operative to output active forces on said shiftlever.
 27. A haptic shift device as recited in claim 23 wherein one ofsaid at least one actuators is a passive actuator operative to provideresistance forces on said shift lever.
 28. A haptic shift device asrecited in claim 22 further comprising a mechanical gate implementing atleast one of said shifting patterns, wherein said shift lever is blockedfrom at least some of said areas outside said pattern by said mechanicalgate.
 29. A haptic shift device as recited in claim 26 wherein saidmechanical gate is used to provide two different patterns, one saidpatterns being a manual transmission pattern having at least twovertical channels joined by a horizontal channel and used in a manualmode, and another of said patterns being an automatic or sequentialtransmission pattern having a single vertical channel and used in anautomatic or sequential mode.
 30. A haptic shift device as recited inclaim 21 wherein said at least one actuator outputs haptic effects onsaid shift lever, said haptic effects being felt by said user.
 31. Ahaptic shift device as recited in claim 30 wherein said haptic effectsinclude at least one of a detent and a hill.
 32. A method for shiftinggears of a vehicle transmission, the method comprising: providing ashift lever to be physically contacted and moved by a user in at leastone degree of freedom; detecting a position of said shift lever in saidat least one degree of freedom, wherein position data representative ofsaid position is derived from said at least one sensor; outputting datacausing a transmission gear of said vehicle to be changed based on saidposition of said shift lever; and outputting a force on said shift leverusing at least one actuator, said at least one actuator beingelectrically controlled.
 33. A method as recited in claim 32 whereinsaid shift lever is moveable within a pattern and is blocked from areasoutside the boundaries of said pattern.
 34. A method as recited in claim33 wherein said shift lever is blocked from said outside areas by abarrier force output by said at least one actuator.
 35. A method asrecited in claim 34 wherein said force output on said shift lever is anactive force and said at least one actuator is an active actuator.
 36. Amethod as recited in claim 34 wherein said force output on said shiftlever is a passive resistance force and said at least one actuator is apassive actuator.
 37. A method as recited in claim 34 wherein said forceoutput on said shift lever includes a passive resistance to provide saidbarrier force and an active force to provide haptic sensations to saiduser.
 38. A method as recited in claim 33 further comprising blockingsaid movement of said shift lever into said areas outside saidboundaries of said pattern using a mechanical gate implementing saidpattern.
 39. A method as recited in claim 38 wherein said mechanicalgate is used to provide two different patterns, one said patterns beinga manual transmission pattern having at least two vertical channelsjoined by a horizontal channel and used in a manual mode, and another ofsaid patterns being an automatic transmission pattern having a singlevertical channel and used in an automatic mode.
 40. A method as recitedin claim 39 further comprising mechanically moving a component of saidmechanical gate when changing modes of said haptic shift device,allowing mechanical barriers to be provided for said shift lever in alldirections in said manual mode and said automatic mode.
 41. A method asrecited in claim 32 wherein said at least one actuator outputs hapticeffects on said shift lever, said haptic effects being felt by saiduser, said effects including at least one of a detent and a hill.
 42. Ahaptic shift device for a vehicle, the haptic shift device comprising: ashift lever physically contacted and manipulatable by a user in at leastone degree of freedom; at least one sensor operative to detect aposition of said shift lever in said at least one degree of freedom,wherein position data representative of said position is derived fromsaid at least one sensor, wherein said position data is used to cause atransmission gear of said vehicle to be changed based on said positionof said shift lever; at least one actuator operative to output a forceon said shift lever, said at least one actuator being electricallycontrolled; and a mode selector allowing said user to select one of aplurality of shifting modes of said haptic shift device, wherein atleast two of said shifting modes provide different physicalcharacteristics for said shift lever.
 43. A haptic shift device asrecited in claim 42 wherein said different physical characteristicsinclude a different range of motion of said shift lever in at least twodifferent modes.
 44. A haptic shift device as recited in claim 42wherein said different physical characteristics include different forcesensations output in at least two different modes.
 45. A haptic shiftdevice as recited in claim 44 wherein in one of said modes, only barrierforce sensations are applied to said shift lever, while in another oneof said modes, barrier force sensations and other types of forcesensations are applied to said shift lever.
 46. A haptic shift devicefor a simulated vehicle implemented by a computer system, the hapticshift device comprising: a shift lever physically contacted andmanipulatable by a user in at least one degree of freedom; at least onesensor operative to detect a position of said shift lever in said atleast one degree of freedom, wherein position data representative ofsaid position is derived from said at least one sensor, wherein saidposition data is provided to said computer system to cause a simulatedtransmission gear of said simulated vehicle to be changed based on saidposition of said shift lever; at least one actuator operative to outputa force on said shift lever, said at least one actuator beingelectrically controlled; and a mode selector allowing said user toselect one of a plurality of shifting modes of said haptic shift device,wherein at least two of said shifting modes provide different shiftingpatterns for said shift lever, wherein said shift lever is moveablewithin said shifting patterns and is blocked from areas outside theboundaries of said shifting patterns.
 47. A haptic shift device asrecited in claim 46 wherein said at least one actuator includes at leastone combination of an active actuator portion and a passive actuatorportion for a particular degree of freedom of said shift lever.